Rok Ma was a typical Judoon when he first met the Doctor, but as he spent more time with him he became more understanding of the human mind. His personality changed so he was happier and less fixated on Judoon justice.
Rok Ma was the first Judoon known to have made a joke and laughed, which shocked the Doctor when he realised it. (PROSE: Judgement of the Judoon)
Multi-adventures reference the rare instance when a companion is shown or stated to have multiple adventures with the Doctor but only appears in a single story.
If a medium is not mentioned, then this incarnation did not have companions who were original to that medium; it does not mean that this Doctor failed to appear in that medium.